Exemplo n.º 1
0
        void SendGrid(double lat, double lon, ushort grid_spacing, byte bit)
        {
            log.Info("SendGrid " + lat + " " + lon + " space " + grid_spacing + " bit " + bit);

            MAVLink.mavlink_terrain_data_t resp = new MAVLink.mavlink_terrain_data_t();
            resp.grid_spacing = grid_spacing;
            resp.lat          = lastrequest.lat;
            resp.lon          = lastrequest.lon;
            resp.gridbit      = bit;
            resp.data         = new short[16];

            for (int i = 0; i < (4 * 4); i++)
            {
                int x = i % 4;
                int y = i / 4;

                PointLatLngAlt plla = new PointLatLngAlt(lat, lon).gps_offset(x * grid_spacing, y * grid_spacing);

                var alt = srtm.getAltitude(plla.Lat, plla.Lng);

                // check where the alt returned came from.
                if (alt.currenttype == srtm.tiletype.invalid)
                {
                    return;
                }

                resp.data[i] = (short)alt.alt;
            }

            _interface.sendPacket(resp);
        }
Exemplo n.º 2
0
        void SendGrid(double lat, double lon, ushort grid_spacing, byte bit)
        {
            log.Info("SendGrid " + lat + " " + lon + " space " + grid_spacing + " bit " + bit);

            MAVLink.mavlink_terrain_data_t resp = new MAVLink.mavlink_terrain_data_t();
            resp.grid_spacing = grid_spacing;
            resp.lat          = lastrequest.lat;
            resp.lon          = lastrequest.lon;
            resp.gridbit      = bit;
            resp.data         = new short[16];

            for (int i = 0; i < (4 * 4); i++)
            {
                int x = i % 4;
                int y = i / 4;

                PointLatLngAlt plla = new PointLatLngAlt(lat, lon).gps_offset(x * grid_spacing, y * grid_spacing);

                double alt = srtm.getAltitude(plla.Lat, plla.Lng);

                if (alt == 0)
                {
                    return;
                }

                resp.data[i] = (short)alt;
            }

            MainV2.comPort.sendPacket(resp);
        }
        void SendGrid(double lat, double lon, ushort grid_spacing, byte bit)
        {
            log.Info("SendGrid "+ lat + " " + lon + " space " + grid_spacing + " bit "+ bit);

            MAVLink.mavlink_terrain_data_t resp = new MAVLink.mavlink_terrain_data_t();
            resp.grid_spacing = grid_spacing;
            resp.lat = lastrequest.lat;
            resp.lon = lastrequest.lon;
            resp.gridbit = bit;
            resp.data = new short[16];

            for (int i = 0; i < (4 * 4); i++)
            {
                int y = i % 4;
                int x = i / 4;

                PointLatLngAlt plla = new PointLatLngAlt(lat, lon).location_offset(x * grid_spacing, y * grid_spacing);

                double alt = srtm.getAltitude(plla.Lat, plla.Lng);

                resp.data[i] = (short)alt;
            }

            MainV2.comPort.sendPacket(resp);
        }
Exemplo n.º 4
0
        bool ReceviedPacket(byte[] rawpacket)
        {
            if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_DATA)
            {
                MAVLink.mavlink_terrain_data_t packet =
                    rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_data_t>();

                if (issending)
                {
                    return(false);
                }

                double lLat = packet.lat / Math.Pow(10, 7);
                double lLon = packet.lon / Math.Pow(10, 7);

                short[] lData = packet.data;
                // bls: they will all have the same location so
                // just add one map marker. Perhaps labeled with
                // the highest value or the range of values?
                for (int i = 0; i < lData.Length; i++)
                {
                    short lDataVal = lData[i];
                    if (lDataVal > 0)
                    {
                        Debug.WriteLine("data at {0} = {1}", i, lDataVal);

                        mFlightData.addPOIatLoc(lLat, lLon, lDataVal.ToString());
                    }
                }
            }
            else if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REPORT)
            {
                MAVLink.mavlink_terrain_report_t packet =
                    rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_report_t>();
                log.Info("received TERRAIN_REPORT " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " " + packet.loaded + " " +
                         packet.pending);
            }
            return(false);
        }
Exemplo n.º 5
0
        void SendGrid(double lat, double lon, ushort grid_spacing, byte bit)
        {
            log.Info("SendGrid "+ lat + " " + lon + " space " + grid_spacing + " bit "+ bit);

            MAVLink.mavlink_terrain_data_t resp = new MAVLink.mavlink_terrain_data_t();
            resp.grid_spacing = grid_spacing;
            resp.lat = lastrequest.lat;
            resp.lon = lastrequest.lon;
            resp.gridbit = bit;
            resp.data = new short[16];

            for (int i = 0; i < (4 * 4); i++)
            {
                int x = i % 4;
                int y = i / 4;

                PointLatLngAlt plla = new PointLatLngAlt(lat, lon).gps_offset(x * grid_spacing, y * grid_spacing);

                var alt = srtm.getAltitude(plla.Lat, plla.Lng);

                // check where the alt returned came from.
                if (alt.currenttype == srtm.tiletype.invalid)
                    return;

                resp.data[i] = (short)alt.alt;
            }

            _interface.sendPacket(resp);
        }
Exemplo n.º 6
0
        bool ReceviedPacket(byte[] rawpacket)
        {
            if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_DATA)
            {
                MAVLink.mavlink_terrain_data_t packet =
                    rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_data_t>();

                if (issending)
                {
                    return(false);
                }

                bool  lNeedToAddPoint = false;
                short lMin            = short.MaxValue;
                short lMax            = short.MinValue;
                float lSum            = 0;

                double lLat = packet.lat / Math.Pow(10, 7);
                double lLon = packet.lon / Math.Pow(10, 7);

                short[] lData = packet.data;
                // bls: they will all have the same location so
                // just add one map marker. Perhaps labeled with
                // the highest value or the range of values?
                for (int i = 0; i < lData.Length; i++)
                {
                    short lDataVal = lData[i];
                    lSum += lDataVal;

                    if (lDataVal < lMin)
                    {
                        lMin = lDataVal;
                    }
                    if (lDataVal > lMax)
                    {
                        lMax = lDataVal;
                    }

                    if (lDataVal > 100)
                    {
                        Debug.WriteLine("value {0} = {1} ", i, lDataVal);
                        lNeedToAddPoint = true;
                    }
                }
                if (lNeedToAddPoint)
                {
                    float  lAverage = lSum / lData.Count();
                    string lLabel   = "";
                    lLabel += " Max: " + lMax.ToString();
                    lLabel += " Avg: " + lAverage.ToString();
                    lLabel += " Min: " + lMin.ToString();
                    mFlightData.addPOIatLoc(lLat, lLon, lLabel);
                }
            }
            else if (rawpacket[5] == (byte)MAVLink.MAVLINK_MSG_ID.TERRAIN_REPORT)
            {
                MAVLink.mavlink_terrain_report_t packet =
                    rawpacket.ByteArrayToStructure <MAVLink.mavlink_terrain_report_t>();
                log.Info("received TERRAIN_REPORT " + packet.lat / 1e7 + " " + packet.lon / 1e7 + " " + packet.loaded + " " +
                         packet.pending);
            }
            return(false);
        }